Learning the cost-to-go for mixed-integer nonlinear model predictive control

Application of nonlinear model predictive control (NMPC) to problems with hybrid dynamical systems, disjoint constraints, or discrete controls often results in mixed-integer formulations with both continuous and discrete decision variables. However, solving mixed-integer nonlinear programming problems (MINLP) in real-time is challenging, which can be a limiting factor in many applications. To address the computational complexity of solving mixed integer nonlinear model predictive control problem in real-time, this paper proposes an approximate mixed integer NMPC formulation based on value function approximation. Leveraging Bellman's principle of optimality, the key idea here is to divide the prediction horizon into two parts, where the optimal value function of the latter part of the prediction horizon is approximated offline using expert demonstrations. Doing so allows us to solve the MINMPC problem with a considerably shorter prediction horizon online, thereby reducing the online computation cost. The paper uses an inverted pendulum example with discrete controls to illustrate this approach

Mixed-Integer MPC Strategies for Fueling and Density Control in Fusion Tokamaks

Model predictive control (MPC) is promising for fueling and core density feedback control in nuclear fusion tokamaks, where the primary actuators, frozen hydrogen fuel pellets fired into the plasma, are discrete. Previous density feedback control approaches have only approximated pellet injection as a continuous input due to the complexity that it introduces. In this letter, we model plasma density and pellet injection as a hybrid system and propose two MPC strategies for density control: mixed-integer (MI) MPC using a conventional mixed-integer programming (MIP) solver and MPC utilizing our novel modification of the penalty term homotopy (PTH) algorithm. By relaxing the integer requirements, the PTH algorithm transforms the MIP problem into a series of continuous optimization problems, reducing computational complexity. Our novel modification to the PTH algorithm ensures that it can handle path constraints, making it viable for constrained hybrid MPC in general. Both strategies perform well with regards to reference tracking without violating path constraints and satisfy the computation time limit for real-time control of the pellet injection system. However, the computation time of the PTH-based MPC strategy consistently outpaces the conventional MI-MPC strategy

Evaluation of ITER divertor shunts as a synthetic diagnostic for detachment control

Reliable diagnostics that measure the detached state of the ITER divertor plasma will be necessary to control heat flux to the divertor targets during steady state, burning plasma operation. This paper conducts an initial exploration into the feasibility of the divertor shunt diagnostic as a lightweight, robust, and real-time detachment sensor. This diagnostic is a set of shunt lead pairs that measure the voltage drop along the divertor cassette body, from which the plasma scrape-off layer (SOL) current is calculated. Using SOLPS-ITER simulations for control-relevant ITER plasma scenarios, the thermoelectric current magnitude along the SOL is shown to decrease significantly with the onset of partial detachment at the outer divertor target. Electromagnetic modelling of a simplified divertor cassette is used to develop a control-oriented inductance-resistance circuit model, from which SOL currents can be calculated from shunt pair voltage measurements. The sensitivity and frequency-response of the resulting system indicates that the diagnostic will accurately measure SOL thermoelectric currents during ITER operation. These currents will be a good measure of the detached state of the divertor plasma, making the divertor shunt diagnostic a potentially extremely valuable and physically robust sensor for real-time detachment control

Evaluation of ITER divertor shunts as a synthetic diagnostic for detachment control

Reliable diagnostics that measure the detached state of the ITER divertor plasma will be necessary to control heat flux to the divertor targets during steady state, burning plasma operation. This paper conducts an initial exploration into the feasibility of the divertor shunt diagnostic as a lightweight, robust, and real-time detachment sensor. This diagnostic is a set of shunt lead pairs that measure the voltage drop along the divertor cassette body, from which the plasma scrape-off layer (SOL) current is calculated. Using SOLPS-ITER simulations for control-relevant ITER plasma scenarios, the thermoelectric current magnitude along the SOL is shown to decrease significantly with the onset of partial detachment at the outer divertor target. Electromagnetic modelling of a simplified divertor cassette is used to develop a control-oriented inductance-resistance circuit model, from which SOL currents can be calculated from shunt pair voltage measurements. The sensitivity and frequency-response of the resulting system indicates that the diagnostic will accurately measure SOL thermoelectric currents during ITER operation. These currents will be a good measure of the detached state of the divertor plasma, making the divertor shunt diagnostic a potentially extremely valuable and physically robust sensor for real-time detachment control

Research using the Quality Outcomes Database: accomplishments and future steps toward higher-quality real-world evidence

OBJECTIVE The Quality Outcomes Database (QOD) was established in 2012 by the NeuroPoint Alliance, a nonprofit organization supported by the American Association of Neurological Surgeons. Currently, the QOD has launched six different modules to cover a broad spectrum of neurosurgical practice—namely lumbar spine surgery, cervical spine surgery, brain tumor, stereotactic radiosurgery (SRS), functional neurosurgery for Parkinson’s disease, and cerebrovascular surgery. This investigation aims to summarize research efforts and evidence yielded through QOD research endeavors. METHODS The authors identified all publications from January 1, 2012, to February 18, 2023, that were produced by using data collected prospectively in a QOD module without a prespecified research purpose in the context of quality surveillance and improvement. Citations were compiled and presented along with comprehensive documentation of the main study objective and take-home message. RESULTS A total of 94 studies have been produced through QOD efforts during the past decade. QOD-derived literature has been predominantly dedicated to spinal surgical outcomes, with 59 and 22 studies focusing on lumbar and cervical spine surgery, respectively, and 6 studies focusing on both. More specifically, the QOD Study Group—a research collaborative between 16 high-enrolling sites—has yielded 24 studies on lumbar grade 1 spondylolisthesis and 13 studies on cervical spondylotic myelopathy, using two focused data sets with high data accuracy and long-term follow-up. The more recent neuro-oncological QOD efforts, i.e., the Tumor QOD and the SRS Quality Registry, have contributed 5 studies, providing insights into the real-world neuro-oncological practice and the role of patient-reported outcomes. CONCLUSIONS Prospective quality registries are an important resource for observational research, yielding clinical evidence to guide decision-making across neurosurgical subspecialties. Future directions of the QOD efforts include the development of research efforts within the neuro-oncological registries and the American Spine Registry—which has now replaced the inactive spinal modules of the QOD—and the focused research on high-grade lumbar spondylolisthesis and cervical radiculopathy

Second asymptomatic carotid surgery trial (ACST-2) : a randomised comparison of carotid artery stenting versus carotid endarterectomy

Background: Among asymptomatic patients with severe carotid artery stenosis but no recent stroke or transient cerebral ischaemia, either carotid artery stenting (CAS) or carotid endarterectomy (CEA) can restore patency and reduce long-term stroke risks. However, from recent national registry data, each option causes about 1% procedural risk of disabling stroke or death. Comparison of their long-term protective effects requires large-scale randomised evidence. Methods: ACST-2 is an international multicentre randomised trial of CAS versus CEA among asymptomatic patients with severe stenosis thought to require intervention, interpreted with all other relevant trials. Patients were eligible if they had severe unilateral or bilateral carotid artery stenosis and both doctor and patient agreed that a carotid procedure should be undertaken, but they were substantially uncertain which one to choose. Patients were randomly allocated to CAS or CEA and followed up at 1 month and then annually, for a mean 5 years. Procedural events were those within 30 days of the intervention. Intention-to-treat analyses are provided. Analyses including procedural hazards use tabular methods. Analyses and meta-analyses of non-procedural strokes use Kaplan-Meier and log-rank methods. The trial is registered with the ISRCTN registry, ISRCTN21144362. Findings: Between Jan 15, 2008, and Dec 31, 2020, 3625 patients in 130 centres were randomly allocated, 1811 to CAS and 1814 to CEA, with good compliance, good medical therapy and a mean 5 years of follow-up. Overall, 1% had disabling stroke or death procedurally (15 allocated to CAS and 18 to CEA) and 2% had non-disabling procedural stroke (48 allocated to CAS and 29 to CEA). Kaplan-Meier estimates of 5-year non-procedural stroke were 2·5% in each group for fatal or disabling stroke, and 5·3% with CAS versus 4·5% with CEA for any stroke (rate ratio [RR] 1·16, 95% CI 0·86-1·57; p=0·33). Combining RRs for any non-procedural stroke in all CAS versus CEA trials, the RR was similar in symptomatic and asymptomatic patients (overall RR 1·11, 95% CI 0·91-1·32; p=0·21). Interpretation: Serious complications are similarly uncommon after competent CAS and CEA, and the long-term effects of these two carotid artery procedures on fatal or disabling stroke are comparable